An Intelligent Driver Model with Trajectory Planning

This paper presents an overall concept and framework of a driver model with the intent to generate realistic traffic flow and motion while reflecting the nature of driving characteristics. The proposed driver model simulates a driver's driving on the road with proper trajectory planning mechanism that takes into account the surrounding environment, including lane and road geometry, surrounding obstacles, and traffic infrastructure; and a decision making process that "mentally" assesses the situation for potential hazards or threats; "obeys" traffic rules, and determines an optimum trajectory to follow safely and comfortably. The concept and framework presented in this paper is demonstrated through simulation.